US10674883B2 - Vacuum cleaner robot - Google Patents

Vacuum cleaner robot Download PDF

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Publication number
US10674883B2
US10674883B2 US15/543,856 US201515543856A US10674883B2 US 10674883 B2 US10674883 B2 US 10674883B2 US 201515543856 A US201515543856 A US 201515543856A US 10674883 B2 US10674883 B2 US 10674883B2
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Prior art keywords
vacuum cleaner
floor nozzle
dust collector
fan unit
collector arrangement
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US15/543,856
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US20180008108A1 (en
Inventor
Ralf Sauer
Jan Schultink
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Eurofilters Holding NV
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Eurofilters Holding NV
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Assigned to EUROFILTERS HOLDING N.V. reassignment EUROFILTERS HOLDING N.V. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SAUER, RALF, SCHULTINK, JAN
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
    • A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00—Application
    • G05D2201/02—Control of position of land vehicles
    • G05D2201/0215—Vacuum cleaner

Definitions

  • the invention relates to a vacuum cleaner robot.
  • Conventional vacuum cleaners are operated by a user who moves the vacuum cleaner, and in particular the floor nozzle through which dust is suctioned, across the surface to be cleaned.
  • Conventional floor vacuum cleaners there comprise, for example, a housing which is mounted on rollers and/or runners.
  • a dust collection container is arranged in the housing and contains a filter bag.
  • a floor nozzle is via a suction tube and a suction hose connected to the dust collection chamber.
  • a motorized fan unit is further arranged in the housing and creates a negative pressure in the dust collection container. In the air flow direction, the motorized fan unit is therefore arranged downstream of the floor nozzle, the suction tube, the suction hose, and the dust collection container or the filter bag, respectively. Since cleaned air passes though such motorized fan units, they are sometimes referred to as clean air motors.
  • Such dirty air or fouled air motor fans are also referred to as a “dirty air motor” or “direct air motor”.
  • the use of such dirty air motors is also described in documents GB 554 177, U.S. Pat. Nos. 4,644,606, 4,519,112, US 2002/0159897, U.S. Pat. No. 5,573,369, US 2003/0202890 or U.S. Pat. No. 6,171,054.
  • vacuum cleaner robots have also gained popularity. Such vacuum cleaner robots no longer have to be guided by a user over the surface to be cleaned; they instead drive across the floor autonomously. Examples of such vacuum cleaner robots are known, for example, from EP 2 741 483, DE 10 2013 100 192 and US 2007/0272463.
  • FIG. 02/074150 An alternative vacuum cleaner robot is described in WO 02/074150.
  • This vacuum cleaner robot is structured in two parts and comprises a container or fan module and a cleaning head module which is connected to the fan module via a hose.
  • the object underlying the invention is to provide an improved vacuum cleaner robot.
  • a vacuum cleaner robot comprising a dust collector arrangement mounted on wheels, a suction hose and a floor nozzle mounted on wheels, where the floor nozzle is fluidically connected to the dust collector arrangement via the suction hose,
  • a motorized fan unit for suctioning an air stream through the floor nozzle
  • the motorized fan unit is arranged between the floor nozzle and the dust collector arrangement such that an air stream suctioned in through the floor nozzle flows through the motorized fan unit and into the dust collector arrangement
  • the dust collector arrangement comprises a drive device in order to drive at least one of the wheels of the dust collector arrangement
  • the floor nozzle comprises a drive device in order to drive at least one of the wheels of the floor nozzle.
  • a dirty air motor or direct air motor is thereby advantageously used in a vacuum cleaner robot. Even with low engine power, a high volumetric flow can be obtained with the vacuum cleaner robot according to the invention and thereby a high cleaning effect on carpets and hard floors.
  • a dirty air motor for example, has a maximum rotational speed of less than 30,000 rpm and an electrical input power of less than 900 W.
  • the floor nozzle In the direction of air stream, the floor nozzle, sometimes referred to as a “suction nozzle”, is arranged upstream of the suction hose, and the suction hose is arranged upstream of the dust collector arrangement.
  • the air suctioned in by way of the motorized fan unit through the floor nozzle is first passed into the suction hose and subsequently into the dust collector arrangement. Due to the fluidic connection, a continuous air stream is ensured through the floor nozzle and the suction hose into the dust collector arrangement.
  • dirty air motors can also be advantageously used in vacuum cleaner robots, in particular in order to convey dirty air suctioned in through the floor nozzle through the motorized fan unit into the dust collector arrangement.
  • an overpressure is present in the vacuum cleaner robot at least in the dust collector arrangement.
  • the wall thicknesses of the dust collector arrangement can be reduced or reinforcing elements (such as, for example, reinforcing ribs) can be used to a lesser extent or even completely avoided, which leads to a reduction in weight.
  • the floor nozzle can reach the surfaces to be suctioned even in tight conditions, and secondly, the dust collector arrangement can provide a relatively large dust absorption volume.
  • the dust collector arrangement and the floor nozzle are formed as separate or individual units; they are each mounted (separately) on their own wheels. The dust collector arrangement and the floor nozzle can be moved independently of one another.
  • the dust collector arrangement can have three or four wheels, in particular precisely three or precisely four wheels.
  • the drive device of the dust collector arrangement can be configured to drive one of the wheels, several or all of the wheels of the dust collector arrangement. For each drivable wheel, the drive device can have a separate or independent drive unit. This allows for independent driving of each wheel.
  • the floor nozzle can have three or four wheels, in particular precisely three or precisely four wheels.
  • the drive device of the dust collector arrangement can be configured to drive one of the wheels, several or all of the wheels of the dust collector arrangement. For each drivable wheel, the drive device can have a separate or independent drive unit. This allows for independent driving of each wheel.
  • the drive device of the dust collector arrangement can be configured to be separate from the drive device of the floor nozzle or can be formed separately.
  • the dust collector arrangement and the floor nozzle can be driven independently of each other. They can be moved, for example, in different directions. Also, one of the two can not be moved while the other is moved.
  • the motorized fan unit can be arranged between the floor nozzle and the suction hose such that the air stream suctioned in through the floor nozzle flows through the motorized fan unit and into the suction hose.
  • overpressure is during operation also present in the suction hose. This means that the suction hose wall must slightly reinforced at best slightly.
  • the motorized fan unit can be arranged on and/or above the floor nozzle, in particular directly on and/or above the floor nozzle. This leads to advantageous suction performance. Moreover, a compact structure of the unit composed of the floor nozzle and the motorized fan unit can be obtained.
  • the motorized fan unit can be arranged such that air suctioned through the floor nozzle enters the motorized fan unit directly from the floor nozzle.
  • the motorized fan unit can be fluidically connected to the floor nozzle via a tube member.
  • the motorized fan unit is no longer arranged directly on and/or above the floor nozzle.
  • the tube member can have a length of 10 mm to 300 mm, preferably 10 mm to 100 mm.
  • the motorized fan unit can be arranged between the suction hose and the dust collector arrangement such that an air stream suctioned in through the floor nozzle flows through the suction hose and into the motorized fan unit through the motorized fan unit into the dust collector arrangement.
  • a light and compact arrangement can be achieved on the side of the floor nozzle, which leads to high movability of the floor nozzle and accessibility of even tight areas.
  • the dust collector arrangement can comprise a housing and a dust separator arranged in the housing, where the motorized fan unit is arranged on, at or in the housing.
  • the housing can comprise a housing wall which is in particular made of plastic material.
  • the arrangement of the dust separator within the housing of the dust collector arrangement and the arrangement of the motorized fan unit on or in the housing allow for a compact design of the dust collector arrangement and thereby of the vacuum cleaner robot as a whole.
  • the motorized fan unit can (in particular during operation of the vacuum cleaner robot) be arranged on top of or above the dust separator or at the same height as the dust separator.
  • the motorized fan unit is therefore, in particular, not arranged below the dust separator. Conveying the dirty air through the motorized fan unit thereby does not have to occur against gravity, or only to a small extent.
  • the motorized fan unit can be arranged on the housing.
  • the dust separator can there during operation of the vacuum cleaner robot be arranged below the motorized fan unit or at the same height.
  • one of the wheels, several or all wheels of the dust collector arrangement and/or one of the wheels, several or all the wheels of the floor nozzle can be omnidirectional wheels.
  • the use of omnidirectional wheels allows for very flexible and versatile movement of the dust collector arrangement or the floor nozzle, respectively.
  • Each omnidirectional wheel on its circumference comprises a plurality of rotatably mounted rollers or roller bodies, the axes of which are not in parallel to the wheel axis (of the omnidirectional wheel).
  • the axes of the rollers can in particular run or be oriented at an angle or transverse with respect to the wheel axis.
  • An example of an omnidirectional wheel is a Mecanum wheel, which is described, inter alia, in U.S. Pat. No. 3,876,255.
  • volumemetric flow and “suction air flow” are also used for the term “air stream” according to DIN EN 60312-1.
  • the suction hose can typically have a diameter in a range of 25 mm to 50 mm and/or a length in a range of 500 mm to 2500 mm.
  • the suction hose can be configured to be flexible, in particular such that it can be deformed by a user when the vacuum cleaner robot is used as intended.
  • the suction hose can be partially or completely made of plastic material. It can in particular comprise a plastic wall and/or reinforcement made of metal (for example a spiral wire).
  • the suction hose can be designed as a stretch hose. It therefore has a variable length and can be extended to a multiple of its unstretched (stationary) length.
  • the filter area of a vacuum cleaner filter bag designates the entire area of the filter material which is located between or within the edge seams (for example welding or adhesive seams). Any side or surface folds that may be present also need to be considered.
  • the area of the bag filling opening or inlet opening (including a seam surrounding this opening) is not part of the filter area.
  • the vacuum cleaner filter bag can be a flat bag or have a block bottom shape.
  • a flat bag is formed by two side walls made of filter material which are joined together (for example welded or glued) along their peripheral edges.
  • the bag filling opening or inlet opening can be provided in one of the two side walls.
  • the side faces or walls can each have a rectangular basic shape.
  • Each side wall can comprise one or more layers of nonwoven and/or nonwoven fabric.
  • the bag wall of the vacuum cleaner filter bag can comprise one or more layers of a nonwoven and/or one or more layers of nonwoven fabric. It can in particular comprise a laminate of one or more layers of nonwoven and/or one or more layers of nonwoven fabric. Such a laminate is described, for example, in WO 2007/068444.
  • nonwoven fabric is used within the meaning of standard DIN EN ISO 9092:2010.
  • film and paper structures in particular filter paper, are there not regarded as being nonwoven fabric.
  • “Nonwoven” is a structure made of fibers and/or continuous filaments or short fiber yarns shaped into a surface structure by some method (except interlacing of yarns such as woven fabric, knitwear, lace, or tufted fabric) but not bonded by some method. With a bonding process, a nonwoven turns into nonwoven fabric.
  • the nonwoven or nonwoven fabric can be dry laid, wet laid or extruded.
  • the vacuum cleaner robot can comprise a blow-out filter, in particular having a filter area of at least 800 cm 2 .
  • the blow-out filter can in particular be configured to be pleated or folded. This makes it possible to obtain a large surface area at a smaller base area.
  • the blow-out filter can be provided in a holder, as described, for example, in European patent application No. 14179375.2.
  • Such blow-out filters allow the use of vacuum cleaner filter bags with low separation efficiency, for example, of single-layer vacuum cleaner filter bags.
  • a bag can be used as a vacuum cleaner filter bag with low separation efficiency in which the filter material of the bag wall consists of a spunbond with a surface weight of 15 g/m 2 to 100 g/m 2 .
  • the vacuum cleaner filter bag can therefore be formed in particular having a single layer.
  • a bag can alternatively be used in which the filter material of the bag wall consists of a laminate made of a spunbond, a meltblown and a further spunbond (SMS).
  • the vacuum cleaner robot can be a bagless vacuum cleaner, in particular with a blow-out filter as described above having a filter area of at least 800 cm 2 .
  • a bagless vacuum cleaner is a vacuum cleaner in which the suctioned dust is separated and collected without a vacuum cleaner filter bag.
  • the dust collector arrangement can comprise an impact separator or a centrifugal separator or a cyclone separator, respectively.
  • the motorized fan unit can have an in particular single stage radial fan.
  • a radial fan the air is suctioned parallel or axially relative to the drive axis of the fan wheel and deflected by the rotation of the fan wheel, in particular by approximately 90°, and blown out radially.
  • the floor nozzle can be an active or a passive floor nozzle.
  • An active floor nozzle has a brush roller (sometimes also referred to as a beating and/or rotation brush) in the suction opening.
  • the brush roller can be driven electro-motorically
  • a passive floor nozzle has no brush roller.
  • the vacuum cleaner robots described can comprise a control and navigation device for autonomously driving the floor nozzle and/or the dust collector arrangement. This allows for autonomous vacuum cleaning by the vacuum cleaner robot.
  • the control and navigation device can be designed in particular for controlling the drive device of the dust collector arrangement, the drive device of the floor nozzle and/or the motorized fan unit.
  • the control and navigation device can be arranged on or in the dust collector arrangement and/or on or in the floor nozzle.
  • the control and navigation device can in particular be arranged exclusively on or in the dust collector arrangement. In this case, controlling and navigating the floor nozzle can also be carried out on the part of the dust collector arrangement.
  • the vacuum cleaner robots described can have a device for transmitting control signals from the control and navigation device to the floor nozzle.
  • the device for [transmitting SIC] control signals can be configured to form a wired or a wireless transmission.
  • the vacuum cleaner robots described can comprise one or more devices for determining the location.
  • the devices for determining the location can be, in particular, cameras, displacement sensors and/or distance sensors.
  • the distance sensors can be based, for example, on sound waves or electromagnetic waves.
  • the devices for determining the location can be arranged on or in the dust collector arrangement and/or on or in the floor nozzle.
  • the vacuum cleaner robots described can have a wireless power supply. They can in particular have a rechargeable battery for power supply.
  • the dust collector arrangement can have a lifting device for adjusting the height of the underside of the dust collector arrangement above the floor, in particular the underside of the housing of the dust collector arrangement.
  • the distance between the underside of the dust collector arrangement and the floor clearance of the dust collector arrangement can be adjusted thereby. For example in a charging position of the vacuum cleaner robot. This allows increasing the height of the underside above the floor in order to drive the floor nozzle under the dust collector arrangement or its housing.
  • FIG. 1 shows a first embodiment of a vacuum cleaner robot
  • FIG. 2 shows a block circuit diagram of a vacuum cleaner robot
  • FIG. 3 shows a second embodiment of a vacuum cleaner robot.
  • FIG. 1 is a schematic representation of a first embodiment of a vacuum cleaner robot 1 .
  • Vacuum cleaner robot 1 shown comprises a dust collector arrangement 2 and a floor nozzle 3 which is connected to dust collector arrangement 2 via a flexible suction hose 4 .
  • Dust collector arrangement 2 is mounted on four wheels 5 , each of which is formed as an omnidirectional wheel.
  • Each omnidirectional wheel 5 has a plurality of rotatably mounted rollers 6 on its circumference.
  • the rotational axes of rollers 6 are all not parallel to the wheel axis 7 of the respective omnidirectional wheel.
  • the rotational axes of the rollers can assume an angle of 45° relative to the respective wheel axis.
  • the surfaces of the rollers or roller bodies are curved or bent.
  • Dust collector arrangement 2 comprises a drive device for driving wheels 5 of the dust collector arrangement.
  • the drive device can comprise a separate drive unit, for example, in the form of an electric motor, for each wheel 5 so that each wheel 5 can be driven independently of the other wheels.
  • Rollers 6 are rotatably mounted without a drive.
  • dust collector arrangement 2 By suitably driving individual or all wheels 5 , dust collector arrangement 2 can be moved in any direction. If, for example, all four wheels 5 are moved at the same speed in the same direction of rotation, then the dust collector arrangement moves straight ahead. With a counter-rotating movement of the wheels on one side, a lateral movement or displacement can be achieved.
  • fewer or more than four wheels can also be formed in the form of omnidirectional wheels.
  • An example with three omnidirectional wheels is described in US 2007/0272463.
  • floor nozzle 3 is also equipped with four omnidirectional wheels 5 . These wheels are in the embodiment smaller than the wheels of dust collector arrangement 2 .
  • floor nozzle 3 also comprises a drive device for wheels 5 .
  • the drive device for each wheel comprises a single drive unit, for example, in the form of electric motors, in order to drive each wheel separately and independently of the other wheels. In this way, the floor nozzle can also be moved in any direction by suitably driving the wheels.
  • Floor nozzle 3 comprises a floor plate with a base surface which, during operation of the vacuum cleaner robot faces the floor, i.e. the surface to be suctioned.
  • one or more air flow channels are incorporated parallel to the base surface, through which the dirty air is suctioned in.
  • the air flow channel(s) can comprise an opening provided laterally in the floor plate.
  • the air flow channel can be straight or curved, in particular have the shape of a circular ring or a circular ring section. The shape of a circular ring section or of a circular ring can be advantageous in particular for lateral movements of the floor nozzle.
  • dust collector arrangement 2 comprises a housing 8 on which a motorized fan unit 9 is arranged.
  • a tube member 10 leads from motorized fan unit 9 to a vacuum cleaner filter bag which forms a dust separator.
  • the vacuum cleaner filter bag can be removably attached in the interior of housing 8 in a conventional manner, for example, by way of a holding plate.
  • a continuous fluidic connection to the dust separator is therefore established by floor nozzle 3 , suction hose 4 , motorized fan unit 9 and tube member 10 .
  • Motorized fan unit 9 is there arranged between suction hose 4 and the dust separator so that dirty air suctioned in through the floor nozzle flows through motorized fan unit 9 (in particular via tube member 10 ) into the vacuum cleaner filter bag arranged in the interior of housing 8 .
  • Motorized fan unit 9 is therefore a dirty air motor. This is in particular a motorized fan unit comprising a radial fan.
  • Air is during operation sucked in by motorized fan unit 9 .
  • the air stream there enters vacuum cleaner robot 1 through an opening of floor nozzle 3 and flows through suction hose 4 into motorized fan unit 9 .
  • Vacuum cleaner robot 1 comprises a control and navigation device for autonomously driving dust collector arrangement 2 and floor nozzle 3 .
  • a correspondingly programmed microcontroller is arranged in housing 8 of dust collector arrangement 2 .
  • the control and navigation device is connected to devices for determining the location. They include cameras 11 and 12 as well as distance sensors 13 .
  • the distance sensors can be, for example, laser sensors.
  • a device for the latter for transmitting control signals from the control and navigation device in housing 8 of dust collector arrangement 2 to floor nozzle 3 , in particular to the drive device of the floor nozzle.
  • wireless transmitters/receivers can be arranged on the part of dust collector arrangement 2 and floor nozzle 3 .
  • a wired connection for transmitting control signals can also be provided along the suction hose.
  • Floor nozzle 3 can in a supporting manner also comprise one or more devices for determining the location. For example, path sensors and/or distance sensors can be provided on the floor nozzle. In order to use the corresponding information for control and navigation, respective signals are transmitted from the floor nozzle to the control and navigation device.
  • the power supply for the vacuum cleaner robot can be effected in a wireless manner.
  • Power supply for the floor nozzle, in particular its drive device, is effected by way of a power supply cable in or along suction hose 4 .
  • Dust collector arrangement 2 can alternatively or additionally comprise rechargeable batteries which can be charged, for example, in a cabled or wireless (inductive) manner.
  • vacuum cleaner 1 can move, for example, autonomously to a charging station. If the power supply to the drive device of the floor nozzle is not exclusively effected by a power connection via suction hose 4 , then floor nozzle 3 itself can also comprise rechargeable batteries.
  • FIG. 2 is a schematic block circuit diagram of a vacuum cleaner robot 1 with a dust collector arrangement 2 and a floor nozzle 3 .
  • the drive device for wheels 5 of dust collector arrangement 2 comprises, firstly, four drive units 14 in the form of electric motors and, secondly, a microcontroller 15 for controlling the electric motors.
  • a control and navigation device 16 is also provided in dust collector arrangement 2 and serves to control the autonomous driving of the dust collector arrangement and the floor nozzle
  • Control and navigation device 16 is connected both to microcontroller 15 of the drive device as well as to a further microcontroller 17 which is part of the devices for determining the location. Data signals from different sensors and/or cameras are processed in microcontroller 17 and made available to control and navigation device 16 .
  • Control and navigation device 16 is also connected to motorized fan unit 9 in order to drive it
  • power supply or voltage supply is effected by way of a rechargeable battery 18 , which can be charged wirelessly or in a cabled manner.
  • Charging can be effected at a charging station which is autonomously approached by the robot.
  • the dust collection chamber can also be automatically cleaned (for example, suctioned out) in order to increase the capacity of the device, i.e. to improve the range.
  • the blow-out filter can also be cleaned at the charging station. This can also lead to an increased service life.
  • the floor nozzle can be positioned beneath the dust collector arrangement during the charging or cleaning operation.
  • the dust collector arrangement is by use of a lifting device automatically raised and ground clearance is thereby increased so that the floor nozzle can drive therebeneath.
  • the floor nozzle also comprises a drive device for its four wheels 5 , where the drive device, like in the case of dust collector arrangement 2 , comprises a microcontroller 15 and four electric motors 14 .
  • the control signals for the drive device of floor nozzle 3 originate from the control and navigation device 16 which is arranged in dust collector arrangement 2 .
  • the signals are transmitted via a communication line 19 which can be arranged, for example, in the wall of the suction hose. Alternatively, however, this signal transmission could also be effected wirelessly.
  • Power and voltage supply is effected via rechargeable battery 18 of dust collector arrangement 2 .
  • a line 20 is provided which is arranged in the wall of the suction hose.
  • FIG. 1 is a bag-type vacuum cleaner.
  • a vacuum cleaner filter bag 11 in which the suctioned dirt and dust is separated.
  • This vacuum cleaner filter bag can be, in particular, a flat bag, the bag walls of which comprise one or more layers of nonwoven and/or nonwoven fabric.
  • the vacuum cleaner filter bag is embodied as a disposable bag.
  • blow-out filter When using in particular single-layer vacuum cleaner filter bags in which the bag wall is composed, for example, of exactly one nonwoven fabric layer in the form of a spunbond, the use of a blow-out filter is advantageous.
  • the dust filter can be used to filter fine dust which has not been separated in the vacuum cleaner filter bag.
  • Such a blow-out filter can have an area of at least 800 cm 2 . It can in particular be formed to be pleated or folded in order to have a large surface area at a smaller base area (than the surface area).
  • Suction hose 4 typically has a diameter in a range of 25 mm to 50 mm and a length in a range of 500 mm to 2500 mm.
  • the vacuum cleaner robot can also be a bagless vacuum cleaner in which dust collector arrangement 2 comprises a centrifugal separator or cyclone separator, respectively, in which the dirt and dust particles suctioned in are separated by centrifugal force.
  • the bagless vacuum cleaner can also be designed as an impact separator.
  • the dust collector arrangement comprises a blow-out filter with which fine dust is filtered that has not been separated in the centrifugal separator.
  • This blow-out filter can have an area of at least 800 cm 2 . It can in particular be formed to be pleated or folded in order to have a large surface area at a smaller base area.
  • the blow-out filter can there be provided in a holder, as described in European patent application No. 14179375.2.
  • FIG. 3 schematically illustrates an alternative embodiment in which same reference symbols are used as in FIG. 1 for identical elements.
  • motorized fan unit 3 is arranged directly on floor nozzle 9 .
  • Motorized fan unit 9 is again a dirty air motor with a radial fan.
  • the motorized fan unit has a fan wheel the axis of which is during intended use parallel to the surface to be suctioned and perpendicular to the intended sliding direction of the floor nozzle.
  • Air is during operation sucked in by motorized fan unit 9 .
  • a brush roller for example a beating brush and/or a rotating brush
  • a brush roller for example a beating brush and/or a rotating brush
US15/543,856 2015-01-20 2015-12-11 Vacuum cleaner robot Active 2036-08-31 US10674883B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP15151742 2015-01-20
EP15151742.2 2015-01-20
EP15151742.2A EP3047772B1 (de) 2015-01-20 2015-01-20 Staubsaugerroboter
PCT/EP2015/079464 WO2016116220A1 (de) 2015-01-20 2015-12-11 Staubsaugerroboter

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US10674883B2 true US10674883B2 (en) 2020-06-09

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EP (1) EP3047772B1 (de)
CN (1) CN107105952B (de)
AU (1) AU2015378045B2 (de)
DK (1) DK3047772T3 (de)
ES (1) ES2619192T3 (de)
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CN106527446B (zh) * 2016-12-02 2020-11-13 北京小米移动软件有限公司 扫地机器人的控制方法及装置
CN107876279B (zh) * 2017-11-23 2023-06-23 国家电网公司 一种移动式喷水装置
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KR20190089795A (ko) * 2019-07-12 2019-07-31 엘지전자 주식회사 모터출력의 제어가 가능한 청소기 및 그 제어방법
CN117266068B (zh) * 2023-11-20 2024-01-26 阿尔飞思(昆山)智能物联科技有限公司 一种应用于清扫机器人的可伸缩清扫机械手

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US20180008108A1 (en) 2018-01-11
EP3047772A1 (de) 2016-07-27
CN107105952B (zh) 2020-02-28
DK3047772T3 (en) 2017-03-27
ES2619192T3 (es) 2017-06-23
RU2668188C1 (ru) 2018-09-26
AU2015378045A1 (en) 2017-06-15
AU2015378045B2 (en) 2018-05-31
WO2016116220A1 (de) 2016-07-28
PL3047772T3 (pl) 2017-07-31
EP3047772B1 (de) 2017-01-04
CN107105952A (zh) 2017-08-29

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